surface smoothing with MLS followed by plane extraction.
To do:

Only keep planes perpendicular or parallel to the first plane (the one with the most points), to within, say, 15 degrees (set by interface). Draw all planes, controlled by angle.
Save coefficients in a vector array.
Consider refining the plane.

Must also write my own ransac so that threshold is a function of Depth, to account for lower resolution at higher z.